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34,918 Commits 852 Branches 161 Tags
29d4ad1848725d05d7b2edf9e3aaeaaaff982187
Commit Graph
917 Commits
Author SHA1 Message Date
Daniel Agar cbb2fa440b sensors/vehicle_angular_velocity: only allocate dynamic notch perf counters if enabled (IMU_GYRO_DYN_NF) 2021-03-08 10:35:48 -05:00
Daniel Agar fddcb73802 sensors/vehicle_angular_velocity: dynamic notch filter support ESC RPM (untested) 2021-03-05 10:56:54 -05:00
Daniel Agar d5d5b7d82e sensors/vehicle_angular_velocity: add perf counters 2021-03-05 10:56:54 -05:00
Daniel Agar 00b3b3678b sensors/vehicle_angular_velocity: gyro dynamic notch filters updated from onboard FFT 2021-03-05 10:56:54 -05:00
Daniel Agar c9a2d0ed34 IMU_GYRO_RATEMAX set system default to 400 Hz 
- MC default is still 800 Hz
 2021-03-02 10:08:49 -05:00
Daniel Agar 9d0c966b15 sensors: publish sensor_selection initially regardless of SENS_IMU_MODE 
- in multi-EKF mode the EKF selector becomes repsonsible for sensor
selector rather than the sensors module
 - this updates the sensors module to still make the initial primary IMU
selection on startup before the EKF selector (including if the
estimators never fully initialize)
 2021-02-27 20:19:05 +01:00
Daniel Agar 6482120d9a sensors/vehicle_angular_velocity: use full raw FIFO data (sensor_gyro_fifo) if available 2021-02-25 10:06:17 -05:00
Daniel Agar 5f3e883f2c sensors/vehicle_imu: vehicle_imu_status include accel/gyro full raw FIFO sample rate 2021-02-24 08:13:53 -05:00
Lorenz Meier 2be482c5ae Sensors: New parameter for baro priority 
This allows to give external barometers priority if they are present.
 2021-02-14 11:17:28 +01:00
Daniel Agar a76e429b1a calibration parameters volatile (offsets and scale factors) 
- anything set vehicle side should be volatile and excluded from the
param hash
 2021-02-10 09:01:47 +01:00
bazooka joe 8834741be8 gps blending make test to work without templated gps_blending class 2021-02-06 12:59:04 +01:00
bazooka joe 8087fac3fc gps_blending add protection against accessing non-exist array item 2021-02-06 12:59:04 +01:00
bazooka joe a0d500b30a changing gps_blending to be non-template class 
because there is no multiple instance types on singular machine
 2021-02-06 12:59:04 +01:00
Julian Oes be3cdc0439 sensors: correct comment logic 
By removing the no the comment matches the implementation (which I think
makes sense).
 2021-02-04 10:14:44 +01:00
Daniel Agar 6a4835bbcc sensors: vehicle_magnetometer combine extra _vehicle_magnetometer_pub 2021-01-30 21:50:01 -05:00
Daniel Agar ce76c84ce2 sensors: vehicle_magnetometer respect publication rate limit SENS_MAG_RATE 2021-01-30 21:50:01 -05:00
Daniel Agar 318c7e83b3 support up to PWM 14 
- generate PWM_MAIN 1-14
 - generate PWM_AUX 1-8
 - generate PWM_EXTRA 1-8
 - px4io and pwm_out directly read configuration parameters
    - only available and active physical outputs are actually shown for configuration
 - overall saves flash despite adding many new parameters
 2021-01-30 15:55:53 +01:00
bresch cdd6df4e27 VehicleGPSPosition: remove unused "using" 2021-01-30 11:32:47 +01:00
bresch 6abbbdeb4b gps blend: add parameter to select the primary instance 2021-01-30 11:32:47 +01:00
bresch 889602ed5e gps blend: always pass through GpsBlending class for selection 2021-01-30 11:32:47 +01:00
bresch b4051b62a3 gps blend: add failover logic and unit test 
also remove dependency to hrt library
 2021-01-30 11:32:47 +01:00
bresch 9bff7a1c41 gps blend: add selector unit tests 2021-01-30 11:32:47 +01:00
bresch 1dbf4957df vehicle gps pos: remove useless gps_updated array 2021-01-30 11:32:47 +01:00
bresch b60bfb920c gps blend: add initial working test 2021-01-30 11:32:47 +01:00
bresch 1cde5074ea gps blend: move definition to header file 2021-01-30 11:32:47 +01:00
bresch 1333664a14 gps blend: move blending logic to class 2021-01-30 11:32:47 +01:00
Claudio Micheli c2a68debd9 add jamming_state to gps sensor module 
Signed-off-by: Claudio Micheli <claudio@auterion.com>
 2021-01-30 11:26:42 +01:00
Daniel Agar 3b26b7adaf sensors: magnetometer preserve original mag cal offset for status message 2021-01-26 16:04:10 -05:00
Ricardo Marques e817fb83f5 pwm_extra: Add PWM_EXTRA parameters. 
Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>
 2021-01-18 15:43:28 +01:00
Daniel Agar a0d8d5ac74 sensors/vehicle_gps_position: untangle and remove unnecessary state 2021-01-13 20:17:49 -05:00
Daniel Agar 967d35a6b6 rate limit most parameter_update subscriptions 
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
 - limit modules from updating faster than once per second
 2021-01-10 21:09:15 -05:00
Daniel Agar b9a721726d sensors/vehicle_magnetometer: respect calibration offset update success 
- the magnetometer calibration offset setter returns false if the new offset change is negligible
 2021-01-08 15:34:48 -05:00
Daniel Agar bf330a51b2 sensors/vehicle_magnetometer: reduce offset update message length to fit 2021-01-08 01:22:31 -05:00
Daniel AgarandPaul Riseborough 88f8da27ef save learned mag bias per sensor (Multi-EKF support) 
- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
 - this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
 - ekf2 reset mag mag bias on any magnetometer or calibration change
 - use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2021-01-07 09:54:13 -05:00
Daniel Agar 98cff94702 px4_work_queue: directly support SITL lockstep 
- the purpose is to ensure that every WorkItem (and WorkItems scheduled
by WorkItems) is allowed to run to completion every step
 - per workqueue register a lockstep component whenever a work item is
added (if not already registered)
 - once the work queue is empty unregister component
 2021-01-04 09:38:05 +01:00
Daniel Agar 9f57df75e8 remove rotation 41 (ROLL_270_YAW_180) 
- duplicate of 31 (ROLL_90_PITCH_180)
 2020-12-28 11:07:08 +01:00
Daniel Agar 409ea2ac02 mavlink: parameters manually mark active minimal QGC set on first send 2020-12-27 13:54:03 -05:00
Daniel Agar c7db0942ba sensors: vehicle_imu don't round measured accel and gyro sample rates 2020-12-16 10:12:27 -05:00
Daniel Agar bf5ee99952 sensors: acceleration always get accel rate from vehicle_imu_status 
- sensor rate is used for control data low pass and notch filters
 2020-12-16 10:12:27 -05:00
Daniel Agar 7038cb8518 sensors: angular_velocity always get gyro rate from vehicle_imu_status 
- sensor rate is used for control data low pass and notch filters
 2020-12-16 10:12:27 -05:00
Daniel Agar ee9ce1087a IMU_DGYRO_CUTOFF add conservative default (0 Hz -> 30 Hz) 2020-11-13 21:26:35 -05:00
Daniel Agar 2c874f1cd9 ekf2 selector fix SITL lockstep 
- ekf2 selector don't register lockstep until first attitude publication
 - sensors module register lockstep component
 - enable multi-EKF2 in SITL
 2020-10-28 09:42:41 -04:00
Daniel Agar 91da194bd7 sensors/vehicle_gps_position: only register callbacks once topic published 
- this avoids creating unnecessary uORB device nodes for GPS instances that might never exist
 2020-10-27 18:40:57 -04:00
Daniel AgarandPaul Riseborough 0f411d6820 Multi-EKF support (ekf2) 
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
    - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
 - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
 - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
 - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
 - ekf2 single instance mode is still fully supported and the default

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2020-10-27 10:56:11 -04:00
Beat Küng ff3008c051 calibration: add SYS_FAC_CAL_MODE parameter 
If set, stores calibration parameters in separate storage /fs/mtd_caldata.
 2020-10-12 15:22:26 +02:00
Daniel Agar dfbaf6607a sensors/vehicle_imu: continue integrating queued raw data if falling behind 2020-10-10 12:30:26 -04:00
Daniel Agar eecf2e7a1e sensors: allow up to 4 accels, gyros, and baros and add configurable rotations for accel & gyro 2020-10-08 19:01:44 -04:00
Silvan Fuhrer 8f858d95e6 Rename equivalent airspeed (EAS) to calibrated airspeed (CAS) 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2020-10-06 09:31:58 +02:00
Daniel Agar f01c4e769f sensors/vehicle_imu: vehicle_imu_status add mean accel/gyro 
- this makes it slightly easier to gather long term data for an Allan Variance
 - fixes https://github.com/PX4/Firmware/issues/6250
 2020-10-05 22:18:03 -04:00
Daniel Agar c9c20666a2 sensors: sanity check differential pressure temperature (#15845) 
- if valid temperature unavailable then use ICAO Standard Atmosphere 15 degrees celcius
 2020-09-29 09:35:34 -04:00